PR2 base+arm navigation [closed]

asked 2011-11-17 10:25:43 -0600

jbarry gravatar image

updated 2014-11-22 17:05:43 -0600

ngrennan gravatar image

Hi,

I am using the PR2 for manipulation tasks and I would like to be able to plan for the PR2 base and arms at the same time, preferably using OMPL. I have been looking at the ompl_ros_interface and it seems primarily geared towards kinematic planning from a fixed base. Specifically, the KinematicsBase plugin functions do not appear to support multi-DOF joints. Is there support for this somewhere?

Thanks, Jenny

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-02-03 07:38:16